version: 66.06
glider: 146
mission: 8
dive: 444
start: 4 22 113 2 27 56
data:
$ID,146
$MISSION,8
$DIVE,444
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,960
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,620
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52423
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2225
$TGT_DEFAULT_LON,-8113.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-316155.5
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3260
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3190
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.560358
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043571657
$SEABIRD_T_H,0.00063262874
$SEABIRD_T_I,2.5277763e-05
$SEABIRD_T_J,2.8683949e-06
$SEABIRD_C_G,-9.9054022
$SEABIRD_C_H,1.142597
$SEABIRD_C_I,-0.0022074829
$SEABIRD_C_J,0.00025491611
$GPS1,021935,1926.661,-8117.248,32,1.2,32,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-75.5
$GPS2,022701,1926.646,-8117.185,11,1.3,11,-3.7
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,TNW
$TGT_LATLONG,1927.000,-8118.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.144,0.056
$KALMAN_X,-164434.0,129.1,142.1,147077.3,1171.5
$KALMAN_Y,133667.1,-113.7,-133.3,-127708.2,-362.7
$MHEAD_RNG_PITCHd_Wd,295.1,1568,-30.3,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.96,-51.1,0.0,0.0,0,84,0.00,0.00,-62.95,0.000,2,0.000,0.000,459,2181,3273,0,0,0,0,0,0
$GC,89,-2.02,-101.6,3.1,-3.4,8,114,12.73,2.62,-6.68,0.000,4,0.155,0.044,2811,3800,3605,0,0,0,0,0,0
$GC,126,-1.20,-101.6,14.6,-28.7,12,136,0.88,2.53,0.00,0.000,6,0.107,0.019,2993,2215,3606,0,0,0,0,0,0
$GC,415,-1.40,-101.6,64.0,-14.6,42,420,0.17,2.55,0.00,0.000,4,0.051,0.031,2926,3800,3606,0,0,0,0,0,0
$GC,549,-1.50,-101.6,89.1,-18.6,52,559,0.00,2.55,0.00,0.000,6,0.000,0.024,2926,2204,3606,0,0,0,0,0,0
$GC,818,-1.66,-101.6,133.9,-14.3,77,823,0.12,2.58,0.00,0.000,4,0.066,0.046,2867,633,3608,0,0,0,0,0,0
$GC,835,-1.77,-101.6,137.7,-14.5,78,840,0.00,2.45,0.00,0.000,6,0.000,0.023,2867,2233,3607,0,0,0,0,0,0
$GC,1101,-1.89,-101.6,174.0,-13.1,102,1105,0.00,2.62,0.00,0.000,4,0.000,0.050,2867,629,3608,0,0,0,0,0,0
$GC,1156,-1.99,-101.6,181.6,-13.5,106,1161,0.17,2.40,0.00,0.000,6,0.051,0.019,2798,2192,3608,0,0,0,0,0,0
$GC,1441,-1.99,-101.6,224.6,-14.7,121,1446,0.12,2.53,0.00,0.000,4,0.116,0.035,2823,3768,3608,0,0,0,0,0,0
$GC,1499,-2.05,-101.6,232.6,-13.6,122,1504,0.00,2.47,0.00,0.000,6,0.000,0.018,2823,2178,3608,0,0,0,0,0,0
$GC,1765,-2.13,-101.6,267.2,-12.7,129,1767,0.12,0.00,0.00,0.000,6,0.066,0.000,2762,2178,3608,0,0,0,0,0,0
$GC,2009,-2.13,-101.6,304.2,-15.2,135,2014,0.15,2.58,0.00,0.000,4,0.109,0.045,2794,3763,3609,0,0,0,0,0,0
$GC,2044,-2.13,-101.6,309.3,-14.7,135,2050,0.00,2.45,0.00,0.000,6,0.000,0.029,2794,2215,3608,0,0,0,0,0,0
$GC,2294,-2.13,-101.6,344.2,-13.9,142,2298,0.00,2.53,0.00,0.000,4,0.000,0.047,2794,3767,3607,0,0,0,0,0,0
$GC,2320,-2.13,-101.6,348.2,-14.2,142,2325,0.00,2.47,0.00,0.000,6,0.000,0.034,2794,2209,3607,0,0,0,0,0,0
$GC,2573,-2.16,-101.6,383.1,-13.9,148,2578,0.00,2.58,0.00,0.000,4,0.000,0.051,2794,3766,3607,0,0,0,0,0,0
$GC,2595,-2.16,-101.6,386.6,-13.5,148,2599,0.00,2.50,0.00,0.000,6,0.000,0.036,2794,2213,3607,0,0,0,0,0,0
$GC,2859,-2.21,-101.6,422.1,-13.7,155,2864,0.00,2.60,0.00,0.000,4,0.000,0.058,2794,3765,3605,0,0,0,0,0,0
$GC,2883,-2.21,-101.6,425.8,-14.3,155,2888,0.00,2.53,0.00,0.000,6,0.000,0.040,2794,2216,3605,0,0,0,0,0,0
$GC,3139,-2.25,-101.6,460.6,-13.4,162,3144,0.10,2.62,0.00,0.000,4,0.079,0.060,2747,3764,3604,0,0,0,0,0,0
$GC,3172,-2.19,-101.6,465.7,-15.5,162,3178,0.17,2.58,0.00,0.000,6,0.103,0.048,2783,2217,3604,0,0,0,0,0,0
$GC,3424,-2.19,-101.6,498.6,-12.9,169,3429,0.00,2.65,0.00,0.000,4,0.000,0.071,2783,3757,3603,0,0,0,0,0,0
$GC,3468,-2.19,-101.6,505.3,-14.4,170,3473,0.00,2.58,0.00,0.000,6,0.000,0.057,2783,2218,3603,0,0,0,0,0,0
$GC,3746,-2.19,-101.6,542.6,-13.6,177,3750,0.00,2.70,0.00,0.000,4,0.000,0.077,2783,3758,3601,0,0,0,0,0,0
$GC,3792,-2.19,-101.6,548.9,-14.0,178,3796,0.00,2.60,0.00,0.000,6,0.000,0.057,2783,2225,3601,0,0,0,0,0,0
$GC,4069,-2.23,-101.6,586.0,-13.1,185,4074,0.00,2.70,0.00,0.000,4,0.000,0.083,2783,3753,3600,0,0,0,0,0,0
$GC,4096,-2.23,-101.6,589.9,-14.0,185,4101,0.00,2.65,0.00,0.000,6,0.000,0.064,2783,2230,3599,0,0,0,0,0,0
$GC,4349,-2.27,-101.6,623.2,-13.3,191,4354,0.00,2.75,0.00,0.000,4,0.000,0.091,2783,3751,3598,0,0,0,0,0,0
$GC,4394,-2.27,-101.6,629.9,-14.1,192,4399,0.00,2.70,0.00,0.000,6,0.000,0.080,2783,2235,3599,0,0,0,0,0,0
$GC,4672,-2.31,-101.6,667.2,-13.4,199,4677,0.12,2.88,0.00,0.000,4,0.068,0.114,2736,3755,3596,0,0,0,0,0,0
$GC,4719,-2.26,-101.6,674.0,-16.1,200,4724,0.15,2.83,0.00,0.000,6,0.109,0.101,2766,2232,3596,0,0,0,0,0,0
$GC,4997,-2.26,-101.6,714.4,-14.4,207,5002,0.00,2.97,0.00,0.000,4,0.000,0.129,2766,3751,3594,0,0,0,0,0,0
$GC,5032,-2.26,-101.6,719.2,-15.4,207,5037,0.00,2.72,0.00,0.000,6,0.000,0.090,2766,2237,3593,0,0,0,0,0,0
$GC,5281,-2.26,-101.6,755.4,-14.3,214,5286,0.00,2.78,0.00,0.000,4,0.000,0.093,2766,3758,3592,0,0,0,0,0,0
$GC,5342,-2.26,-101.6,764.6,-14.1,215,5346,0.00,2.70,0.00,0.000,6,0.000,0.083,2766,2238,3591,0,0,0,0,0,0
$GC,5605,-2.26,-101.6,800.7,-13.8,222,5609,0.00,2.75,0.00,0.000,4,0.000,0.090,2766,3753,3590,0,0,0,0,0,0
$GC,5644,-2.26,-101.6,806.8,-14.3,223,5648,0.00,2.65,0.00,0.000,6,0.000,0.077,2766,2246,3590,0,0,0,0,0,0
$GC,5927,-2.26,-101.6,844.9,-13.3,230,5931,0.00,2.72,0.00,0.000,4,0.000,0.087,2766,3758,3587,0,0,0,0,0,0
$GC,5968,-2.26,-101.6,850.1,-13.6,231,5972,0.00,2.65,0.00,0.000,6,0.000,0.074,2766,2256,3587,0,0,0,0,0,0
$GC,6251,-2.26,-101.6,887.5,-13.1,238,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2256,3585,0,0,0,0,0,0
$STATE,6370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6370,begin apogee
$GC,6376,-0.31,0.0,903.2,12.9,241,6466,1.95,0.00,84.68,1.193,6,0.092,0.000,3190,2332,3190,0,0,0,0,0,0
$STATE,6466,end apogee,CONTROL_FINISHED_OK
$STATE,6466,begin climb
$GC,6471,2.02,101.6,905.1,0.0,243,6566,2.10,0.00,89.93,1.167,6,0.035,0.000,3716,2331,2775,0,0,0,0,0,0
$GC,6798,2.02,101.6,868.9,13.6,251,6803,0.00,2.83,0.00,0.000,4,0.000,0.073,3716,3938,2768,0,0,0,0,0,0
$GC,6941,1.95,101.6,847.7,15.2,254,6947,0.15,2.67,0.00,0.000,6,0.143,0.048,3689,2378,2766,0,0,0,0,0,0
$GC,7214,1.95,101.6,813.4,12.1,261,7218,0.00,2.70,0.00,0.000,4,0.000,0.065,3689,3942,2764,0,0,0,0,0,0
$GC,7379,1.95,101.6,792.4,12.7,264,7384,0.00,2.65,0.00,0.000,6,0.000,0.054,3689,2390,2763,0,0,0,0,0,0
$GC,7629,1.95,101.6,762.7,11.8,270,7634,0.00,2.67,0.00,0.000,4,0.000,0.058,3689,3944,2761,0,0,0,0,0,0
$GC,7803,1.95,101.6,740.5,12.7,274,7807,0.00,2.62,0.00,0.000,6,0.000,0.049,3689,2395,2760,0,0,0,0,0,0
$GC,8086,1.95,101.6,708.0,11.6,281,8090,0.00,2.65,0.00,0.000,4,0.000,0.059,3689,3935,2759,0,0,0,0,0,0
$GC,8208,1.95,101.6,692.6,12.4,283,8214,0.00,2.60,0.00,0.000,6,0.000,0.045,3689,2401,2758,0,0,0,0,0,0
$GC,8461,1.99,101.6,664.0,11.5,290,8465,0.00,2.65,0.00,0.000,4,0.000,0.064,3689,3946,2758,0,0,0,0,0,0
$GC,8566,1.99,101.6,650.5,12.3,292,8571,0.00,2.60,0.00,0.000,6,0.000,0.045,3689,2408,2757,0,0,0,0,0,0
$GC,8828,2.04,101.6,622.0,10.8,299,8832,0.00,2.60,0.00,0.000,4,0.000,0.059,3689,3938,2756,0,0,0,0,0,0
$GC,9068,2.04,101.6,593.6,11.4,304,9073,0.00,2.58,0.00,0.000,6,0.000,0.043,3689,2408,2756,0,0,0,0,0,0
$GC,9330,2.08,101.6,564.9,11.2,311,9335,0.10,2.58,0.00,0.000,4,0.092,0.060,3718,3938,2755,0,0,0,0,0,0
$GC,9457,2.02,101.6,549.2,12.3,313,9463,0.00,2.55,0.00,0.000,6,0.000,0.040,3718,2413,2755,0,0,0,0,0,0
$GC,9710,2.02,101.6,518.1,12.2,320,9714,0.00,2.58,0.00,0.000,4,0.000,0.058,3718,3946,2755,0,0,0,0,0,0
$GC,9853,1.95,101.6,499.3,12.9,323,9858,0.17,2.53,0.00,0.000,6,0.133,0.037,3686,2424,2754,0,0,0,0,0,0
$GC,10126,2.01,101.6,468.6,11.1,330,10130,0.00,2.55,0.00,0.000,4,0.000,0.048,3685,3946,2754,0,0,0,0,0,0
$GC,10300,2.01,101.6,447.8,12.2,334,10304,0.00,2.50,0.00,0.000,6,0.000,0.038,3685,2426,2754,0,0,0,0,0,0
$GC,10583,2.06,101.6,416.6,11.1,341,10588,0.10,2.53,0.00,0.000,4,0.089,0.045,3716,3941,2754,0,0,0,0,0,0
$GC,10729,2.02,101.6,398.0,12.8,344,10733,0.00,2.47,0.00,0.000,6,0.000,0.030,3716,2423,2754,0,0,0,0,0,0
$GC,10995,2.02,101.6,366.9,11.8,351,10999,0.00,2.50,0.00,0.000,4,0.000,0.050,3717,3943,2754,0,0,0,0,0,0
$GC,11253,1.97,101.6,334.1,12.4,356,11259,0.12,2.45,0.00,0.000,6,0.138,0.031,3692,2426,2754,0,0,0,0,0,0
$GC,11504,2.02,101.6,306.1,11.1,363,11509,0.00,2.50,0.00,0.000,4,0.000,0.047,3693,3946,2755,0,0,0,0,0,0
$GC,11601,2.02,101.6,294.3,12.6,365,11606,0.00,2.45,0.00,0.000,6,0.000,0.031,3693,2420,2755,0,0,0,0,0,0
$GC,11874,2.09,101.6,264.4,10.8,372,11879,0.10,2.50,0.00,0.000,4,0.088,0.040,3725,3943,2756,0,0,0,0,0,0
$GC,12098,2.05,101.6,235.8,11.2,377,12102,0.00,2.40,0.00,0.000,6,0.000,0.033,3725,2445,2756,0,0,0,0,0,0
$GC,12376,2.05,102.2,207.0,9.9,384,12380,0.00,2.45,0.00,0.000,4,0.000,0.041,3725,3942,2758,0,0,0,0,0,0
$GC,12438,2.05,102.2,200.5,10.1,385,12443,0.00,2.40,0.00,0.000,6,0.000,0.034,3725,2445,2758,0,0,0,0,0,0
$GC,12706,2.10,114.9,176.7,8.3,409,12720,0.00,2.50,9.43,0.585,4,0.000,0.044,3725,3942,2720,0,0,0,0,0,0
$GC,12990,2.12,128.0,152.3,8.3,433,13011,0.00,2.38,12.27,0.584,6,0.000,0.032,3725,2457,2667,0,0,0,0,0,0
$GC,13271,2.26,175.1,134.1,3.8,459,13319,0.10,2.53,40.30,0.601,4,0.083,0.046,3761,3941,2474,0,0,0,0,0,0
$GC,13497,2.27,178.7,112.9,9.5,477,13507,0.00,2.35,4.25,0.403,6,0.000,0.027,3761,2475,2460,0,0,0,0,0,0
$GC,13774,2.35,186.0,88.6,9.0,503,13783,0.00,0.00,7.95,0.489,6,0.000,0.000,3761,2475,2431,0,0,0,0,0,0
$GC,14043,2.44,187.2,63.6,9.8,528,14047,0.00,2.42,0.00,0.000,4,0.000,0.041,3761,3940,2430,0,0,0,0,0,0
$GC,14127,2.50,187.5,54.8,10.0,534,14131,0.00,2.35,0.00,0.000,6,0.000,0.027,3761,2470,2430,0,0,0,0,0,0
$GC,14398,2.62,202.0,30.0,8.1,558,14424,0.00,2.50,15.15,0.482,4,0.000,0.043,3761,3940,2365,0,0,0,0,0,0
$STATE,14635,end climb,SURFACE_DEPTH_REACHED
$STATE,14635,begin surface coast
$FINISH,1.1,1.000363
$STATE,14677,end surface coast,CONTROL_FINISHED_OK
$STATE,14677,begin surface
$SM_CCo,14703,119.30,0.485,0,0,1763,350.04
$SM_GC,1.86,0.00,0.00,119.30,0.000,0.000,0.485,463,2199,1763,-12.87,-0.31,350.04
$IRIDIUM_FIX,1918.37,-8119.23,160702,202002
$TT8_MAMPS,0.025311
$HUMID,58.58
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,25.00
$XPDR_PINGS,132
$24V_AH,23.1,62.532
$10V_AH,10.0,55.696
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.200,191.450,263.950,119.300,0.000,31.636,33.968,208.199,33.000,0.000,14.326,1358.597,10143.648,516.728,2524.064,714.916,33.365,1530.271,0.000,2506.792,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,128.856,1192.685,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,403.755,309.054,391.738,552.760,1051.062,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355832
$DATA_FILE_SIZE,47765,598
$CAP_FILE_SIZE,151495,0
$CFSIZE,260165632,97079296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220413,063623,1926.632,-8117.663,24,1.0,41,-3.7